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A survey of the pursuit-evasion problem in swarm intelligence

Frontiers of Information Technology & Electronic engineering 2023年第8期24卷 1093-1116页

作者： Zhenxin MU Jie PAN Ziye ZHOU Junzhi YU Lu CAO State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China National Innovation Institute of Defense Technology Beijing 100071China

For complex functions to emerge in artificial systems,it is important to understand the intrinsic mechanisms of biological swarm behaviors in *** this paper,we present a comprehensive survey of pursuit–evasion,which is a critical problem in biological ***,we review the problem of pursuit–evasion from three different perspectives:game theory,control theory and artificial intelligence,and bio-inspired *** we provide an overview of the research on pursuit–evasion problems in biological systems and artificial *** summarize predator pursuit behavior and prey evasion behavior as predator–prey ***,we analyze the application of pursuit–evasion in artificial systems from three perspectives,i.e.,strong pursuer group *** evader group,weak pursuer group *** evader group,and equal-ability ***,relevant prospects for future pursuit–evasion challenges are *** survey provides new insights into the design of multi-agent and multi-robot systems to complete complex hunting tasks in uncertain dynamic scenarios.

关键词： Swarm behavior Pursuit-evasion Artificial systems Biological model Collective motion

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A Meta-learning System for Automatic Objects Tracking 4

A Meta-learning System for Automatic Objects Tracking

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4th International Conference on Applied Machine Learning, ICAML 2022

作者： Li, Qiaolin Wang, Wenfeng Zhang, Jingjing Research Institute of Intelligent Engineering and Data Applications Shanghai Institute of Technology Shanghai China Research Center of Artificial Intelligence and Robotics Interscience Institute of Management and Technology Bhubaneswar India

ISBN: (纸本)9781665462655

Recent years, reinforcement learning has been developed in many area and achieve high performance in many application. However, for huge amount data and training will make hard leaning for the agent of reinforcement learning, in the project, the agent of DDQN Network was integrated with LSTM meta learner for learning the game called Cartpole and LunarLander. It get a good performance for large train. © 2022 IEEE.

关键词： Reinforcement learning

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Neural Network-Based Gain Scheduled Position Control of a Pneumatic Artificial Muscle

Neural Network-Based Gain Scheduled Position Control of a Pn...

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2022 IEEE International Conference on Electronics, Computing and Communication Technologies, CONECCT 2022

作者： Majumder, Arunabha Sarkar, Debadrata Chakraborty, Sagnik Singh, Abhijit Roy, Shibendu Shekhar Arora, Aman Robotics and Automation Group Durgapur713209 India Ghaziabad201002 India National Institute of Technology Durgapur Department of Mechanical Engineering Durgapur713209 India

ISBN: (数字)9781665497817

ISBN: (纸本)9781665497817

The pneumatic artificial muscle (PAM) is considered one of the most preferred actuators in a variety of robotic and industrial applications. However, due to their inherent nonlinearities and hysteretic properties, they are difficult to model and the controller's design becomes more sophisticated. The position control problem of a PAM having different regions of operations at various axial loads is considered in this paper. A neural network-based gain scheduled proportional-integral-derivative (PID-NN) control scheme has been synthesized and compared to the classical linear PID controllers. The PID gains for different operating regions at different loads are determined using Zeigler Nichols sustained oscillation method. These sets of PID gains are then used to determine the neural network (NN) model that schedules them based on the region of operations and axial loads. To validate the efficacy of the proposed control scheme with regards to different step inputs and a sinusoidal input reference tracking performance, experimental studies are conducted, and comparisons have been made with the PID controller. The experimental results for position control confirm the efficacy of the proposed control strategy. © 2022 IEEE.

关键词： Three term control systems

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A Graph-Based SLAM Method Assisted by Visual Marker in the Degenerate Scenes 8

A Graph-Based SLAM Method Assisted by Visual Marker in the D...

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8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Zhang, Jieqingxin Zhang, Hui Zhou, Xidong Chen, Bo Wang, Xiangchuan Xu, Tao College of Electrical and Information Engineering Changsha University of Science and Technology Hunan China College of Robotics Robot Visual Perception and Control Technology National Engineering Research Center Hunan University Hunan China College of Electrical and Information Engineering Hunan University Hunan China

ISBN: (纸本)9798350300178

In the post-COVID-19 pandemic era, hospitals and other places have an urgent need for mobile robots with autonomous disinfection ability, and robots need to complete SLAM tasks to realize autonomous navigation. Lidar is widely used for indoor SLAM. However, due to the lack of geometric structure in the indoor environment, two-dimensional lidar information degrades, rendering the robot unable to obtain effective positioning. Therefore, we leverage the easy identification and high robustness of ARTag to fuse vision and range sensor information. We introduce ARTag as visual marker to assist positioning, establish observation window to screen the acquired ARTag pose. We employ the pose graph optimization method to optimize the visual markers and laser scanning results in the back end. This reduces the positioning errors caused by the degradation of lidar information and reduces the frequency of optimization by improving the back end optimization strategy. This method is applied in a UltraViolet C (UVC) Disinfection Robot experiment. Experimental results show that our method effectively improves the positioning accuracy and robustness of the robot in the environments with degraded laser information. © 2023 IEEE.

关键词： Disinfection

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SAF: Local Shape-aware Face-based Garment Collision Handling via Neural SDFs

SAF: Local Shape-aware Face-based Garment Collision Handling...

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2025 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2025

作者： Tang, Minzhe Yuan, Ruisheng Kou, Dongliang Sun, Mingyang Zhang, Lihua Academy for Engineering and Technology Fudan University Shanghai China Institute of Metaverse & Intelligent Medicine Fudan University Shanghai China Jilin Provincial Key Laboratory of Intelligence Science and Engineering Changchun China Engineering Research Center of AI and Robotics Ministry of Education Shanghai China AI and Unmanned Systems Engineering Research Center of Jilin Province Changchun China

ISBN: (纸本)9798350368741

Learning-based garment prediction presents an appealing alternative to physics-based methods owing to its high efficiency. However, the predicted garments can exhibit noticeable penetrations into the body. Many collision-handling methods operate in the point domain, which has an inherent limitation in addressing the penetration issues with the mesh faces. In light of this, we propose a local Shape-Aware, Face-based collision handling approach (SAF) that can be applied to garment prediction networks to achieve real-time collision handling. Considering the nature of garments, we design a compact formulation to model the continuity of the garment surface, and utilize neural Signed Distance Fields (SDFs) to accomplish penetration resolution. Recognizing the significant impact of the body's local shape on collision handling, we further propose using the angles between SDF gradients to characterize the sharpness of the body. Our approach can compensate for the inaccuracy of neural SDFs and preserve local smoothness and details. Extensive experiments demonstrate the outstanding performance and generalizability of our method. © 2025 IEEE.

关键词： collision handling computer graphics deep learning garment simulation

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Adaptive Neural Network Tracking for a Magnetic Microrobot in Presence of Model Uncertainty and Unknown Disturbance 19

Adaptive Neural Network Tracking for a Magnetic Microrobot i...

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19th IEEE International Conference on Automation Science and engineering, CASE 2023

作者： Wang, Haoyu Liu, Yueyue Fan, Qigao Wu, Xiaoyu Hu, Yingbai School of Internet of Things Engineering Institute of Automation Jiangnan University Wuxi214122 China National University of Singapore Department of Biomedical Engineering 119077 Singapore Multi-Scale Medical Robotics Centre The Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9798350320695

Magnetic microrobots have potential applications in many medical diagnosis and treatment applications due to the unique characteristics in biological fine manipulation, such as precise drug delivery and being able to be used in complex biological environments. Precise and robust trajectory tracking control of magnetic microrobots under complex disturbances and uncertain dynamic model is still one of the most important and challenging steps in achieving ideal applications. In this paper, an adaptive neural network control algorithm is proposed to address the uncertain dynamic parameters and complex external disturbances. The developed state feedback control strategy based on a radial basis function neural network (RBFNN) can effectively estimate the uncertainties online from the state and desired trajectories, rather than the model-based control. The controller require as little knowledge of system parameters as possible. Subsequently, the closed-loop stable system is guaranteed based on Lyapunov theory. Finally, the two experimental researches are conducted on our developed electromagnetic manipulation system to validate the effectiveness of the proposed controller. © 2023 IEEE.

关键词： Controllers

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Design of An Adjustable Monitor Arm via Collaborative Robot 8

Design of An Adjustable Monitor Arm via Collaborative Robot

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8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Wang, Weijun Sun, Wei Liu, Yunfei Liu, Shujian Li, Wenjie Liu, Jian Robotics Engineering Center The 21ST Research Institute of China Electronic Technology Group Corporation Shanghai200233 China Beijing Microelectronics Technology Institute BeijingBJ 100076 China Beijing Institute of Radio Measurement BJ 1000854 China

ISBN: (纸本)9798350300178

With the development of monitor technology, more and more monitor terminals can be controlled by touch. With the continuous development of man-machine interaction, the traditional fixed monitor cannot meet the changing requirements. A collaborative robot is a robotic arm that can interact with people in real time. It is widely used in human-machine interaction scenarios. This paper studies an adjustable monitor arm via collaborative robot (AMACR). On the one hand, this arm needs to have a strong overall capacity to support the weight of the monitor. On the other hand, this arm needs to have compact structure and good human-computer interaction ability. Firstly, a new type of monitor arm is proposed. Secondly, simulations of this robot are performed. Finally, discussion on the prototype is presented. © 2023 IEEE.

关键词： Human computer interaction

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Spectral-Based Distributed Ergodic Coverage for Heterogeneous Multi-agent Search 1

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15th International Symposium on Distributed Autonomous Robotic Systems, DARS 2021 and 4th International Symposium on Swarm Behavior and Bio-Inspired robotics, SWARM 2021

作者： Sartoretti, Guillaume Rao, Ananya Choset, Howie Mechanical Engineering Department National University of Singapore Singapore117575 Singapore Robotics Institute Carnegie Mellon University PittsburghPA15203 United States

ISBN: (数字)9783030927905

ISBN: (纸本)9783030927899

This paper develops a multi-agent heterogeneous search approach that leverages the sensing and motion capabilities of different agents to improve search performance (i.e., decrease search time and increase coverage efficiency). To do so, we build upon recent results in ergodic coverage methods for homogeneous teams, where the search paths of the agents are optimized so they spend time in regions proportionate to the expected likelihood of finding targets, while still covering the whole domain, thus balancing exploration and exploitation. This paper introduces a new method to extend ergodic coverage to teams of heterogeneous agents with varied sensing and motion capabilities. Specifically, we investigate methods of leveraging the spectral decomposition of a target information distribution to efficiently assign available agents to different regions of the domain and best match the agents’ capabilities to the scale at which information needs to be searched for in these regions. Our numerical results show that distributing and assigning coverage responsibilities to agents based on their dynamic sensing capabilities leads to approximately 40% improvement with regard to a standard coverage metric (ergodicity) and a 15% improvement in time to search over a baseline approach that jointly plans search paths for all agents, averaged over 500 randomized experiments. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Multi agent systems

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The intelligent biped robot AIRO: System overview and omnidirectional walking method design

The intelligent biped robot AIRO: System overview and omnidi...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Liu, Yun Xie, Anhuan Zhu, Shiqiang Gu, Jason Research Institute of Interdisciplinary Innovation Zhejiang Lab Research Center for Intelligent Robotics Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

In order to verify the omnidirectional walking theory and to meet the requirements of rapid prototyping and economy, a bipedal robot system AIRO based on commercial servo motor-driven joints is designed and implemented. Compared with other motor-driven biped robots of the same size, the structure body of AIRO is lighter, and the leg mass distribution is more in line with the principle of the linear inverted pendulum model. Firstly, the overall system composition of the robot is introduced, including the mechanical structure part and the control system part;Then, based on the linear inverted pendulum model principle and the input speed command of the system, the omnidirectional walking planning and control of the robot is realized in combination with the current state of the robot;Finally, a successful omnidirectional walking experiment was carried out on AIRO to verify the effectiveness of the biped robot motion system. © 2022 IEEE.

关键词： Machine design

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Analysis of Accurate Focal Points and Automatic Method of Digital Holographic Microscopy (DHM) for Obtaining an Accurate 3D Profile 23

Analysis of Accurate Focal Points and Automatic Method of Di...

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23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Ono, Taishi Kim, Hyun-Woo Cho, Myungjin Lee, Min-Chul Kyushu Institute of Technology Department of Computer Science and Networks Fukuoka Iizuka820-8502 Japan School of ICT Robotics and Mechanical Engineering Iitc Hankyong National University Kyonggi-do Anseong17579 Korea Republic of

ISBN: (纸本)9788993215274

Currently, Digital Holographic Microscopy(DHM) is used for researching disease diagnosis or microbes. It cannot obtain the correct three-dimensional (3D) profile for a little noise because biological cells are microscopic. Then we need images of the focal point of DHM for reducing noise. However, in DHM, the depth of field becomes smaller influenced by the objective lens. In addition, focusing to obtain hologram images of biological cells in conventional DHM systems is entirely manual, because the decision of the focal point is made by the photographer's senses, which makes it even more difficult to focus on the object. These factors make it difficult for the conventional DHM system to acquire images of the focal points. Therefore, in this paper, we propose the analysis of accurate focusing points using a noise map. This eliminates the illusion or misperception that is a drawback of the manual. We improved an accurate 3D profile. 3D profiles were created at the focal point by the proposed method and at the positions before and after the focal points, and evaluated for SNR. From this, the proposed method can be used to analyze biological cells and microstructures. © 2023 ICROS.

关键词： Holograms

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